Hokuyo Map Generation
When using the Laser_Pipeline node along with the Hokuyo_node how do you take in the tilting angle that the Hokuyo laser is at when creating a 3D map? Would it be solved by simply changing the frame the laser data is read in or do you have to operate the Servo to retrieve the tilting angle? Also, where is tilt angle saved? Is it in the bag file or somewhere else.
Comments
We're going to need more details. Describe your system to us: it sounds like you've built a tilt-mount Hokuyo. (Or are you on a PR2?)
Mac
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2011-11-14 07:06:27 -0500
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Currently we are using a parallax #900-00005, just a standard futaba servo on a parallax mount that is for this specific servo. We will however be upgrading it to a dynamixel ax-12a with a custom made mount.
tyler258
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2011-11-16 03:47:30 -0500
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I've looked at several implementations that are very similar (Georgia tech's healthcare robotics lab and cal poly). It seems that it is necessary to somehow generate the angle information from the servo (by use of an encoder?).
tyler258
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2011-11-16 03:49:17 -0500
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It seems RViz will use the angle generated by the encoder and information read in from the laser scanner to generate the map correct? Am I on the right track here?
tyler258
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2011-11-16 03:49:57 -0500
)editadd a comment
